A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. The capsules produced via the method according to the invention are disposable capsules and preferably contain a single dose of an orally administered pharmaceutical formulation in the form of a powder or a liquid. The head unit includes a control switch for switching between front control and rear control. The first end includes a boss that defines an aperture through which the stud extends, wherein the boss at least partially surrounds the stud and a bushing coupled to the stud. Compounds of particular interest are defined by Formula I . The invention can be remotely controlled to reduce exposure of workers to radioactivity and other hazards.